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Increase mag calibration max_var_allowed

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alexklimaj
2022-10-06 08:44:36 -04:00
committed by Daniel Agar
parent 022aa13aa1
commit 064f3f86bc
1 changed files with 1 additions and 1 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+1 -1
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@@ -254,7 +254,7 @@ void VehicleMagnetometer::UpdateMagCalibration()
// Larger values cause a larger fraction of the learned biases to be used. // Larger values cause a larger fraction of the learned biases to be used.
static constexpr float magb_vref = 2.5e-7f; static constexpr float magb_vref = 2.5e-7f;
static constexpr float min_var_allowed = magb_vref * 0.01f; static constexpr float min_var_allowed = magb_vref * 0.01f;
static constexpr float max_var_allowed = magb_vref * 100.f; static constexpr float max_var_allowed = magb_vref * 500.f;
if (_armed) { if (_armed) {
static constexpr uint8_t mag_cal_size = sizeof(_mag_cal) / sizeof(_mag_cal[0]); static constexpr uint8_t mag_cal_size = sizeof(_mag_cal) / sizeof(_mag_cal[0]);